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		<identifier>oai:zbc.uz.zgora.pl:85854</identifier>
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<dc:title xml:lang="pl"><![CDATA[A fast evaluation of initial configurations in repeatable inverse kinematics for redundant manipulators]]></dc:title>
<dc:creator><![CDATA[Dulęba, Ignacy]]></dc:creator>
<dc:creator><![CDATA[Karcz-Dulęba, Iwona]]></dc:creator>
<dc:creator><![CDATA[Mielczarek, Arkadiusz]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[manipulator]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[repeatable inverse kinematics]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[initial configuration]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[optimization]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run).]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Korbicz, Józef (1951- ) - red.]]></dc:contributor>
<dc:contributor><![CDATA[Uciński, Dariusz - red.]]></dc:contributor>
<dc:date><![CDATA[2018]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/85854/AMCS_2018_28_3_7.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/100847/edition/85854/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:85854]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 28, number 3 (2018)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=109]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:100847]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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